JNIEXPORT void JNICALL Java_com_wiyun_engine_chipmunk_RatchetJoint_init (JNIEnv * env, jobject thiz, jobject b1, jobject b2, jfloat phase, jfloat ratchet) { cpBody* body1 = (cpBody*)env->GetIntField(b1, g_fid_Body_mPointer); cpBody* body2 = (cpBody*)env->GetIntField(b2, g_fid_Body_mPointer); cpConstraint* constraint = cpRatchetJointNew(body1, body2, phase, ratchet); env->SetIntField(thiz, g_fid_Constraint_mPointer, (jint)constraint); }
SGPhysicsConstraint* SG_CALL sgPhysicsConstraintCreateRatchet(SGPhysicsBody* body1, SGPhysicsBody* body2, float phase, float ratchet) { SGPhysicsConstraint* constr = sgPhysicsConstraintCreate(body1, body2, SG_CONSTRAINT_RATCHET); if(!constr) return NULL; constr->handle = cpRatchetJointNew(body1->handle, body2->handle, phase, ratchet); _postCreate(constr); return constr; }
WorldConstraint_t *worldConstr_createRatchetJoint(WorldEntity_t *a, WorldEntity_t *b, GLMFloat aPhase, GLMFloat aRatchet) { dynamo_assert(a->world == b->world, "Entities are not in the same world"); WorldConstraint_t *ret = obj_create_autoreleased(&Class_WorldConstraint); ret->world = a->world; ret->a = obj_retain(a); ret->b = obj_retain(b); ret->type = kWorldJointType_Ratchet; ret->cpConstraint = cpRatchetJointNew(a->cpBody, b->cpBody, aPhase, aRatchet); cpSpaceAddConstraint(ret->world->cpSpace, ret->cpConstraint); return ret; }
bool PhysicsJointRatchet::createConstraints() { do { auto joint = cpRatchetJointNew(_bodyA->getCPBody(), _bodyB->getCPBody(), PhysicsHelper::float2cpfloat(_phase), PhysicsHelper::cpfloat2float(_ratchet)); CC_BREAK_IF(joint == nullptr); _cpConstraints.push_back(joint); return true; } while (false); return false; }
cpConstraint *cpSpaceSerializer::createRatchetJoint(TiXmlElement *elm) { cpConstraint *constraint; cpBody *a; cpBody *b; createBodies(elm, &a, &b); cpFloat phase = createValue<cpFloat>("phase", elm); cpFloat ratchet = createValue<cpFloat>("ratchet", elm); constraint = cpRatchetJointNew(a, b, phase, ratchet); ((cpRatchetJoint*)constraint)->angle = createValue<cpFloat>("angle", elm); //((cpRatchetJoint*)constraint)->jAcc = createValue<cpFloat>("jAcc", elm); return constraint; }
bool PhysicsJointRatchet::init(PhysicsBody* a, PhysicsBody* b, float phase, float ratchet) { do { CC_BREAK_IF(!PhysicsJoint::init(a, b)); auto constraint = cpRatchetJointNew(a->getCPBody(), b->getCPBody(), PhysicsHelper::float2cpfloat(phase), PhysicsHelper::cpfloat2float(ratchet)); CC_BREAK_IF(constraint == nullptr); _cpConstraints.push_back(constraint); return true; } while (false); return false; }
/* * @param [Chipmunk2d::Body] a * @param [Chipmunk2d::Body] b * @param [Float] phase * @param [Float] ratchet */ static mrb_value ratchet_joint_initialize(mrb_state *mrb, mrb_value self) { cpConstraint *constraint; cpBody *a; cpBody *b; mrb_value a_obj; mrb_value b_obj; mrb_float phase; mrb_float ratchet; mrb_get_args(mrb, "ooff", &a_obj, &b_obj, &phase, &ratchet); a = mrb_data_get_ptr(mrb, a_obj, &mrb_cp_body_type); b = mrb_data_get_ptr(mrb, b_obj, &mrb_cp_body_type); mrb_cp_constraint_cleanup(mrb, self); constraint = cpRatchetJointNew(a, b, (cpFloat)phase, (cpFloat)ratchet); mrb_cp_constraint_init_bind(mrb, self, constraint); mrb_iv_set(mrb, self, mrb_intern_lit(mrb, "body_a"), a_obj); mrb_iv_set(mrb, self, mrb_intern_lit(mrb, "body_b"), b_obj); return self; }
static cpSpace * init(void) { space = cpSpaceNew(); cpSpaceSetIterations(space, 10); cpSpaceSetGravity(space, cpv(0, -100)); cpSpaceSetSleepTimeThreshold(space, 0.5f); cpBody *staticBody = cpSpaceGetStaticBody(space); cpShape *shape; shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,240), cpv(320,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,120), cpv(320,120), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,0), cpv(320,0), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-120), cpv(320,-120), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(320,-240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-320,-240), cpv(-320,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(-160,-240), cpv(-160,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(0,-240), cpv(0,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(160,-240), cpv(160,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); shape = cpSpaceAddShape(space, cpSegmentShapeNew(staticBody, cpv(320,-240), cpv(320,240), 0.0f)); cpShapeSetElasticity(shape, 1.0f); cpShapeSetFriction(shape, 1.0f); cpShapeSetLayers(shape, NOT_GRABABLE_MASK); cpVect boxOffset; cpBody *body1, *body2; cpVect posA = cpv( 50, 60); cpVect posB = cpv(110, 60); #define POS_A cpvadd(boxOffset, posA) #define POS_B cpvadd(boxOffset, posB) // Pin Joints - Link shapes with a solid bar or pin. // Keeps the anchor points the same distance apart from when the joint was created. boxOffset = cpv(-320, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpPinJointNew(body1, body2, cpv(15,0), cpv(-15,0))); // Slide Joints - Like pin joints but with a min/max distance. // Can be used for a cheap approximation of a rope. boxOffset = cpv(-160, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpSlideJointNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 40.0f)); // Pivot Joints - Holds the two anchor points together. Like a swivel. boxOffset = cpv(0, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpPivotJointNew(body1, body2, cpvadd(boxOffset, cpv(80,60)))); // cpPivotJointNew() takes it's anchor parameter in world coordinates. The anchors are calculated from that // cpPivotJointNew2() lets you specify the two anchor points explicitly // Groove Joints - Like a pivot joint, but one of the anchors is a line segment that the pivot can slide in boxOffset = cpv(160, -240); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpGrooveJointNew(body1, body2, cpv(30,30), cpv(30,-30), cpv(-30,0))); // Damped Springs boxOffset = cpv(-320, -120); body1 = addBall(posA, boxOffset); body2 = addBall(posB, boxOffset); cpSpaceAddConstraint(space, cpDampedSpringNew(body1, body2, cpv(15,0), cpv(-15,0), 20.0f, 5.0f, 0.3f)); // Damped Rotary Springs boxOffset = cpv(-160, -120); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A)); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B)); cpSpaceAddConstraint(space, cpDampedRotarySpringNew(body1, body2, 0.0f, 3000.0f, 60.0f)); // Rotary Limit Joint boxOffset = cpv(0, -120); body1 = addLever(posA, boxOffset); body2 = addLever(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A)); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B)); // Hold their rotation within 90 degrees of each other. cpSpaceAddConstraint(space, cpRotaryLimitJointNew(body1, body2, -M_PI_2, M_PI_2)); // Ratchet Joint - A rotary ratchet, like a socket wrench boxOffset = cpv(160, -120); body1 = addLever(posA, boxOffset); body2 = addLever(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A)); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B)); // Ratchet every 90 degrees cpSpaceAddConstraint(space, cpRatchetJointNew(body1, body2, 0.0f, M_PI_2)); // Gear Joint - Maintain a specific angular velocity ratio boxOffset = cpv(-320, 0); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A)); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B)); // Force one to sping 2x as fast as the other cpSpaceAddConstraint(space, cpGearJointNew(body1, body2, 0.0f, 2.0f)); // Simple Motor - Maintain a specific angular relative velocity boxOffset = cpv(-160, 0); body1 = addBar(posA, boxOffset); body2 = addBar(posB, boxOffset); // Add some pin joints to hold the circles in place. cpSpaceAddConstraint(space, cpPivotJointNew(body1, staticBody, POS_A)); cpSpaceAddConstraint(space, cpPivotJointNew(body2, staticBody, POS_B)); // Make them spin at 1/2 revolution per second in relation to each other. cpSpaceAddConstraint(space, cpSimpleMotorNew(body1, body2, M_PI)); // Make a car with some nice soft suspension boxOffset = cpv(0, 0); cpBody *wheel1 = addWheel(posA, boxOffset); cpBody *wheel2 = addWheel(posB, boxOffset); cpBody *chassis = addChassis(cpv(80, 100), boxOffset); cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel1, cpv(-30, -10), cpv(-30, -40), cpvzero)); cpSpaceAddConstraint(space, cpGrooveJointNew(chassis, wheel2, cpv( 30, -10), cpv( 30, -40), cpvzero)); cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel1, cpv(-30, 0), cpvzero, 50.0f, 20.0f, 10.0f)); cpSpaceAddConstraint(space, cpDampedSpringNew(chassis, wheel2, cpv( 30, 0), cpvzero, 50.0f, 20.0f, 10.0f)); return space; }